Machine with automated blade positioning system

Abstract

A system is provided for positioning a work implement. The system has at least one actuator for actuating a movement of the work implement. In addition, the system has at least one sensor associated with the at least one actuator and configured to sense at least one parameter indicative of an orientation and a position of the work implement. The system also has at least one ground inclination sensor configured to sense a parameter indicative of an inclination of a surface of the ground. Furthermore, the system has a controller configured to automatically adjust the orientation and position of the work implement in response to data received from the at least one sensor and the at least one ground inclination sensor.

1. A work implement positioning system for positioning a work implement of a machine that includes a power source, the system comprising:
 at least one actuator for actuating a movement of the work implement; 
 at least one sensor associated with the at least one actuator and configured to sense at least one parameter indicative of an orientation and a position of the work implement; 
 at least one ground inclination sensor configured to sense a parameter indicative of an inclination of a surface of the ground; and 
 a controller configured to automatically adjust the orientation and position of the work implement, in response to data received from the at least one sensor and the at least one ground inclination sensor, when the controller determines penetration of the surface of the ground with the work implement at its current orientation or position will stall the power source. 
 
     
     
       2. The work implement positioning system of  claim 1 , wherein the controller is further configured to create a target work implement position and orientation and adjust the position and orientation of the work implement to essentially match the target work implement position and orientation. 
     
     
       3. The work implement positioning system of  claim 2 , wherein the controller is further configured to determine that penetration of the surface of the ground will stall the power source based on the target work implement position and orientation and data received from the ground inclination sensor. 
     
     
       4. The work implement positioning system of  claim 3 , wherein the controller is further configured to adjust the target work implement position and orientation. 
     
     
       5. The work implement positioning system of  claim 4 , wherein the orientation of the work implement is an inclination of the work implement. 
     
     
       6. The work implement positioning system of  claim 5 , wherein the controller is further configured to determine that penetration of the surface of the ground will stall the power source when a difference between the work implement inclination and the ground inclination exceeds a predetermined threshold. 
     
     
       7. A method for moving and orienting a work implement of a machine that includes a controller, comprising:
 sensing at least one parameter indicative of an orientation and a position of a work implement; 
 sensing at least one parameter indicative of an inclination of the ground; and 
 automatically modifying with the controller the orientation of the work implement in response to the sensed orientation and position of the work implement and the inclination of the ground, when the controller determines attempted penetration of the ground to a desired depth with the work implement will result in the machine tipping over. 
 
     
     
       8. The method of  claim 7 , further including creating a target work implement orientation and position and adjusting the orientation and position of the work implement to essentially match the target work implement orientation and position. 
     
     
       9. The method of  claim 8 , further including adjusting the target work implement orientation in response to the determination that attempted penetration of the ground to the desired depth will result in the machine tipping over. 
     
     
       10. The method of  claim 9 , wherein the determination that attempted penetration of the ground to the desired depth will result in the machine tipping over is based on the sensed inclination of the ground and the target work implement orientation. 
     
     
       11. The method of  claim 7 , further including sensing at least one parameter indicative of a machine inclination. 
     
     
       12. The method of  claim 11 , further including switching to a manual mode when the sensed machine inclination exceeds a predetermined threshold. 
     
     
       13. The method of  claim 12 , further including switching from a manual mode to an automatic mode when the sensed machine inclination is less than the predetermined threshold for a predetermined period of time. 
     
     
       14. A machine, comprising:
 at least one traction device; 
 a power source; 
 a work implement; 
 at least one actuator for actuating a movement of the work implement; 
 at least one sensor associated with the at least one actuator and configured to sense at least one parameter indicative of an angular orientation and a position of the work implement, the angular orientation corresponding to a difference in height of ends of a blade of the work implement; 
 at least one ground inclination sensor configured to sense a parameter indicative of an inclination of a surface of the ground; and 
 a controller configured to automatically adjust the angular orientation and position of the work implement in response to data received from the at least one sensor and the at least one ground inclination sensor, when the controller determines either that penetration of the surface of the ground with the work implement at its current orientation or position will stall the power source or that penetration of the ground to a desired depth with the work implement will result in the machine tipping over. 
 
     
     
       15. The machine of  claim 14 , wherein the controller is further configured to create a target work implement position and angular orientation and adjust the position and angular orientation of the work implement to essentially match the target work implement position and angular orientation. 
     
     
       16. The machine of  claim 15 , wherein the controller is further configured to determine either that penetration of the surface of the ground will stall the power source or that penetration of the ground to the desired depth will result in the machine tipping over based on the target work implement position and angular orientation and data received from the ground inclination sensor. 
     
     
       17. The machine of  claim 16 , wherein the controller is further configured to adjust the target work implement position and angular orientation when determining the potential work implement malfunction. 
     
     
       18. The machine of  claim 17 , further including at least one machine inclination sensor configured to sense a parameter indicative of an inclination of the machine. 
     
     
       19. The machine of  claim 18 , wherein the controller is further configured to switch to a manual mode when the inclination of the machine exceeds a predetermined threshold. 
     
     
       20. The machine of  claim 19 , wherein the controller is further configured to switch from a manual mode to an automatic mode when the inclination of the machine is less than a predetermined threshold for a predetermined period of time.